I'm not a huge fan of rafting up overnight either, so see the advantage of seeking shore based gathering places, however I don't have an abundance of ideas about places that would meet those critera. I do seem to remember there was a park with picnic tables adjacent to the dingy dock on San Domigo Creek on the backside of St Michael's that might be a possiblity.
Other than that I can't think of any other place in my area that has shoreside facilites out side of marina's. HHS would be a nice place for a visit if folks are OK with paying for dockage.
s/v Palmetto Moon
1991 Catalina 36